JP2005198160A - Vehicle periphery imaging device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simultaneously confirm images picked up with a plurality of cameras and to easily recognize a video image to be noticed. <P>SOLUTION: A steering angle regarding travel of a vehicle is detected from a rotation angle of a steering wheel. The periphery of the vehicle are picked up with the plurality of cameras 11, 12, respectively, a plurality of picked up video images picked up with the cameras 11, 12 are combined by changing ratio of display area occupied in a picture of a display device 13 to be displayed based on the steering angle of the vehicle 10. Thus, the video image to be noticed is highlighted from among the plurality of picked up video images displayed on one and the same picture by changing display ratio by a state of a steering wheel operation. Moreover, it is convenient since the plurality of picked up video images are simultaneously displayed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle periphery imaging apparatus and related technology.

  Conventionally, as shown in FIG. 19, for example, a front camera 1 that captures a region that spreads forward in the front part of the vehicle and a side camera 3 that captures a region that spreads laterally and frontwardly are provided on the left side of the vehicle. There is a technique (first prior art) for switching between a side captured image captured by the side camera 3 and a front captured image captured by the front camera 1 on a display that is disposed so as to be visible to the user. In the first conventional technique, the amount of change in the direction of the vehicle is detected based on the steering angle of the steering wheel and the vehicle speed detected using various sensors. First, the display of the side captured image by the side camera 3 is started on the display display, and when the amount of change in the direction of the vehicle reaches a predetermined value, the captured image displayed on the display display is changed to the side camera. 3 is switched from the side captured image by 3 to the front captured image by the front camera 1.

  Further, as another conventional example, as shown in FIG. 20, each captured image captured by a left camera installed at the front side of the left side of the vehicle and a right camera installed at the front side of the right side of the vehicle There has been a technique (second prior art) in which the images are displayed side by side on a single screen 5 of a monitor in a vehicle compartment by processing.

  In the first prior art described above, images taken by the plurality of cameras 1 and 3 cannot be confirmed simultaneously. Therefore, for example, when a complicated steering wheel turning operation is required, such as when entering a garage, it is desired to check the captured images of the cameras 1 and 3 simultaneously. In the prior art, the captured images of the cameras 1 and 3 are used. This is inconvenient because it cannot be displayed.

  In the second prior art, images taken by a plurality of cameras are displayed at the same time. However, since the image displayed on the monitor does not change in accordance with the steering operation, the video that the driver should pay attention to is intuitive. It is difficult to visually recognize and is inconvenient.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle periphery imaging device that can simultaneously confirm images captured by a plurality of cameras and that facilitates recognition of a video to be noted.

  In order to solve the above-mentioned problem, the invention described in claim 1 is a vehicle periphery imaging device that captures an image of the periphery of the vehicle and displays the image on a display device installed in the vehicle. A plurality of cameras that respectively capture captured images of the field of view range, the display device installed in the vehicle, a rudder angle detection unit that detects a rudder angle according to travel of the vehicle, and at least the rudder angle detection unit Based on the rudder angle detected in step 1, a plurality of captured images captured by all the cameras are synthesized by changing the proportion of the display area in the screen of the display device. And a control unit that displays the captured image on the display device.

  A second aspect of the present invention is the vehicle periphery imaging device according to the first aspect, wherein the rudder angle detection means is a steering angle detection means for detecting a steering angle of a steering wheel.

  A third aspect of the present invention is the vehicle periphery imaging device according to the first or second aspect, further comprising shift position detecting means for detecting an operation position of a shift lever, wherein the control unit includes the rudder. Based on the rudder angle detected by the angle detection unit and the operation position of the shift lever detected by the shift position detection unit, a plurality of captured images among the captured images captured by all the cameras, The display area is synthesized by changing the ratio of the display area in the screen of the display device, and the synthesized captured image is displayed on the display device.

  A fourth aspect of the present invention is the vehicle periphery imaging device according to any one of the first to third aspects, wherein the control unit converts the captured image viewed from an arbitrary virtual viewpoint position. This function converts the viewpoint of at least one captured image so that the traveling direction of the vehicle in the captured images of the plurality of imaging devices is the same.

  Invention of Claim 5 is a vehicle periphery imaging device in any one of Claims 1-4, Comprising: The said control part is based on the said steering angle detected by the said steering angle detection means. Information on the determined traveling direction of the vehicle is displayed on the display device so as to overlap the captured images.

  According to the first aspect of the present invention, while the steering angle detection means detects the steering angle related to the running of the vehicle, the captured images of the plurality of fields of view of the vehicle are respectively captured by the plurality of cameras and detected by the steering angle detection means. Based on the rudder angle, a plurality of captured images captured by all cameras are combined by changing the proportion of the display area in the screen of the display device, and the combined captured images are displayed. Since it is displayed on the apparatus, it is possible to change the display ratio depending on the state of the handle operation in order to make it easy to recognize a noticeable image from a plurality of captured images displayed on the same screen. Therefore, while displaying a plurality of captured images at the same time, it is possible to increase the display ratio of captured images with high importance each time, and to provide a vehicle periphery imaging device with good visibility.

  In this case, the steering angle of the vehicle can be detected only by detecting the steering angle of the steering wheel by applying the steering angle detection means as in claim 2 as the steering angle detection means.

  Further, when the forward / backward discrimination is performed to change the display ratio of the captured image, it is only necessary to detect the operation position (shift position) of the shift lever by the shift position detecting means as in the third aspect.

  According to the fourth aspect of the present invention, since the traveling directions on the camera images are matched by the viewpoint conversion, it is easy to recognize where the simultaneously displayed images are captured.

  According to the fifth aspect of the present invention, information on the traveling direction of the vehicle determined based on the steering angle detected by the steering angle detection means is displayed on the display device so as to be superimposed on each captured image. It becomes easy to confirm the obstacle to do.

<Configuration>
FIG. 1 is a plan view showing a vehicle 10 in which a vehicle periphery imaging device according to an embodiment of the present invention is installed, and FIG. 2 is a block diagram showing the vehicle periphery imaging device. As shown in FIG. 1, the vehicle periphery imaging apparatus captures the periphery of the vehicle 10 and includes a plurality of cameras 11 and 12 for capturing the periphery in different directions when viewed from the vehicle 10. 2, when the captured images captured by the plurality of cameras 11 and 12 are combined and displayed on the display, the ratio of the captured images to the display is shown in FIGS. 3 to 5 according to the steering angle. To change.

  Specifically, this vehicle periphery imaging device is installed in the front part of the vehicle 10 and images a region extending forward, the front camera (camera A) 11, installed in the left side part of the vehicle 10, and on the side and front sides. A side camera (camera B) 12 that captures an area extending in the range, a dot matrix display type display device 13, a control unit 14 that controls both the cameras 11, 12 and the display device 13, and a steering angle of the vehicle 10 are detected. In order to do so, a steering wheel steering angle detection means 15 that detects the steering angle of the steering wheel and transmits it to the control unit 14 and a shift position detection means 16 that detects the operation position of the shift lever such as forward or backward movement of the vehicle 10 are provided. Composed.

  As shown in FIG. 1, the front camera 11 is installed near the left corner of the front bumper, and a general imaging device using an imaging element such as a CCD is used. The front camera 11 is set such that its imaging center is directed to the left front side, and its visual field range is set to a range from the front of the vehicle 10 to the left side. Such a visual field range is set by an optical system component such as a lens (not shown).

  The side camera 12 is installed near the left side mirror, and for example, a general imaging device using an imaging element such as a CCD similar to the front camera 11 is applied. The side camera 12 is set such that its imaging center is directed to the left side, and its visual field range is set to a range from the diagonally left front to the diagonally left rear of the vehicle 10. Such a visual field range is set by an optical system component such as a lens (not shown).

  The display device 13 (FIG. 2) is constituted by an organic EL display device, a liquid crystal display device (LCD) such as a TFT type, and the like, and a front panel (for example, a center cluster panel, a heater control panel, etc.) in the vehicle interior of the vehicle 10. For example, it is fitted and installed in the center part in the left-right direction. The display device 13 is provided with a connection portion 13 a for electrical connection with the control portion 14.

  The control unit 14 (FIG. 2) displays captured images captured by the cameras 11 and 12 on the display device 13, and in particular, the vehicle based on the steering angle of the steering wheel detected by the steering wheel steering angle detection means 15. The steering angle detected by the steering angle detector 15 determines the ratio of the display area in the display device 13 of the captured images captured by the cameras 11 and 12 according to the determination result. Corresponding to the value of the steering angle, it is changed as shown in FIGS.

  Specifically, as shown in FIG. 2, the control unit 14 includes an image processing unit 21, a memory 23, a microcomputer chip (hereinafter simply referred to as “microcomputer”) 25, and an operation unit 27. .

  Further, the control unit 14 is provided with a plurality of connection portions 31a to 31d made of connectors or the like. For example, the display device 13 and the image processing unit 21 are electrically connected by connecting the connection unit 31a and the connection unit 13a, and the connection unit 31b is connected to the in-vehicle communication line 33 of the in-vehicle LAN. The steering wheel steering angle detection means 15 and the microcomputer 25 are electrically connected through the in-vehicle communication line 33. Further, the cameras 11 and 12 are electrically connected to the image processing unit 21 via the connection units 31c and 31d.

  The image processing unit 21 controls the display image of the display device 13, and as a specific function thereof, based on a control signal from the microcomputer 25, each captured image captured by each camera 11, 12 is displayed. There is an image processing function or the like for changing the ratio of the display device 13 to the screen as shown in FIGS. The screen of the display device 13 shown in FIGS. 3 to 5 will be described later. The memory 23 is used for image processing by the image processing unit 21. The operation unit 27 is for receiving an operation input for operating an air conditioner or various in-vehicle devices (not shown), has a plurality of operation switches, and is installed in a peripheral portion of the display device 13 or the like.

  In addition, when combining and displaying the captured images of the plurality of cameras 11 and 12 on the single display device 13, if it is difficult to recognize where each of the simultaneously displayed images is captured, the visibility is hindered. Resulting in. Therefore, the image processing unit 21 has a function of matching the traveling direction on each camera image by viewpoint conversion in order to easily recognize where each of the simultaneously displayed images is captured. Specifically, the image processing unit 21 has a function of generating a converted image obtained by viewing the captured images captured by the cameras 11 and 12 from an arbitrary virtual viewpoint position. At least one captured image is subjected to viewpoint conversion so that the traveling directions of the vehicle 10 in the image are in the same direction. For example, when the screen direction of the other captured image is rotated by, for example, 90 degrees with respect to the captured image of one of the front camera 11 and the side camera 12, the other captured image is converted to the captured image of the one captured image. The image is displayed on the display device 13 by being rotated reversely by 90 degrees so as to correspond to the screen direction. This makes it easy to recognize where each of the simultaneously displayed images is captured.

  The microcomputer 25 operates on the basis of a predetermined software program configured using a CMOS or a flash ROM, and in particular, based on a signal from the steering wheel angle detection means 15, the traveling direction of the vehicle 10. 3 is selected, the display mode of the display device 13 shown in FIGS. 3 to 5 is selected based on the determination result, and the selection result is output to the image processing unit 21 as a control signal. A specific control operation of the microcomputer 25 will be described later.

  The steering wheel steering angle detection means 15 detects the rotation angle of the steering wheel operated by the driver, and for example, an optical encoder or the like is used. The detection result of the steering wheel steering angle detection means 15 is input to the microcomputer 25 of the control unit 14 through the in-vehicle communication line 33 as an electric signal.

  The shift position detecting means 16 detects the operation position of the shift lever operated by the driver, and inputs the detection result to the microcomputer 25 of the control unit 14 through the in-vehicle communication line 33 as an electric signal. As the shift position detecting means 16, a contact type switch that is turned on and off depending on the presence or absence of mechanical contact when the shift lever is in a tilted state such as a driver state or a back state is used.

<Operation>
The operation of the vehicle periphery imaging device having the above configuration will be described. Here, as shown in FIG. 6, the other vehicles 42 and 43 are parked on the left and right of one vehicle 41. From this situation, the vehicle 41 moves backward to the left rear (arrow direction D1) and then moves to the right. Consider the case of moving forward (arrow direction D2). The vehicle 41 is equipped with the vehicle periphery imaging device of this embodiment, and therefore, the front camera 11 is installed near the left corner of the front bumper, and the side camera 12 is installed near the left side mirror. . Moreover, the code | symbol 44 in FIGS. 6-8 has shown the wall located ahead of the vehicles 41-43.

  First, the driver of the vehicle 41 turns the engine key to turn on the engine of the vehicle 41 and turns on the power of the vehicle periphery imaging device. Then, captured images captured by the front camera 11 and the side camera 12 are input to the image processing unit 21. Here, when the rotation angle in the initial state of the handle corresponds to the front direction (straight-running state), this is detected by the steering angle detection means 15, and based on this, the microcomputer 25 is detected by the front camera 11. The ratio of the display area occupying the display device 13 between the captured image of the display device 13 and the captured image of the side camera 12 is set to 1: 1, and the front side of the area 46a on the right half of the display screen of the display device 13 is set as shown in FIG. From the microcomputer 25, a control signal indicating that the captured image from the camera (camera A) 11 is displayed side by side on the left-half region 47 a of the display screen of the display device 13 is also displayed. Input to the image processing unit 21. Based on this control signal, the image processing unit 21 performs display control of the display device 13 as shown in FIG.

  Next, the driver operates the shift lever to place it in the back state. The operation position (back operation position) of the shift lever at this time is detected by the shift position detection means 16 and input to the microcomputer 25 through the in-vehicle communication line 33.

  Then, the driver moves the vehicle 41 backward while turning the steering wheel to the left, and moves the vehicle 41 in the arrow direction D1. The steering wheel rotation angle at this time is detected by the steering wheel angle detection means 15 and is input to the microcomputer 25 through the in-vehicle communication line 33.

  In the microcomputer 25, based on the signal given from the shift position detection means 16, it is determined whether the vehicle 41 is scheduled to move backward or is actually moving backward. Then, based on the determination result and the signal given from the steering wheel steering angle detection means 15, it is determined that the traveling steering angle of the vehicle 41 is the left rear as shown in FIG.

  In this case, since it is necessary for the driver to check the distance between the left side surface of the vehicle 41 and the vehicle 42 parked on the left side, the image captured by the side camera 12 is important, and the front camera The importance of the captured image at 11 is low. Therefore, as shown in FIG. 4, the microcomputer 25 displays the image captured by the front camera (camera A) 11 in a relatively small area 46 b on the right side of the display screen of the display device 13, and also the display screen of the display device 13. A control signal is output to the image processing unit 21 so as to display the image captured by the side camera (camera B) 12 in a relatively large area 47b on the left side of the image processing unit. Then, in accordance with this control signal, the image processing unit 21 controls display of the display device 13, and the screen of the display device 13 becomes as shown in FIG.

  Next, as shown in FIG. 8, when the vehicle 41 moves rightward (arrow direction D2) while avoiding the rear end of the vehicle 43, the driver turns the steering wheel to the right and switches the shift lever to the forward side. . The rotation angle of the steering wheel at this time is detected by the steering wheel angle detection means 15 and inputted to the microcomputer 25, and the state of the shift lever is also inputted to the microcomputer 25.

  In this case, since it is necessary for the driver to check the distance from the rear end of the vehicle 43, the image captured by the front camera 11 is important, and the image captured by the side camera 12 is relatively important. Is low. Therefore, as shown in FIG. 5, the microcomputer 25 displays the image captured by the front camera (camera A) 11 in a relatively large area 46 c on the right side of the display screen of the display device 13, and also the display screen of the display device 13. A control signal is output to the image processing unit 21 so as to display an image captured by the side camera (camera B) 12 in a relatively small area 47c on the left side of the image. Then, in accordance with this control signal, the image processing unit 21 controls the display of the display device 13, and the screen of the display device 13 becomes as shown in FIG.

  As described above, both cameras are configured so that a captured image having a high importance for the driver is displayed in a wider area than a captured image having a relatively low importance according to the result of detecting the steering angle of the vehicle 41. 11 and 12, the ratio of both the captured images captured on the screen of the display device 13 is changed. Therefore, it is possible to display captured images that are easy to understand and intuitive for the driver.

  However, there are cases where it is necessary to turn the steering wheel several times, for example, when the parking space is small. In this case, it is often considered that there are many situations where it is desired to simultaneously check the captured image of the front camera (camera A) 11 and the captured image of the side camera (camera B) 12. However, in this embodiment, both of the captured images captured by both cameras 11 and 12 are displayed on the display device 13 and only the ratio of the display area is changed. It is convenient to display captured images.

  That is, in this embodiment, by changing the ratio at which the captured images of the plurality of cameras 11 and 12 are displayed on the display device 13 according to the steering angle of the vehicle 10 (41), the imaging of the plurality of cameras 11 and 12 is performed. The video can be confirmed at the same time, and a video to be noticed can be judged instantly.

  In addition, when combining and displaying the captured images of the plurality of cameras 11 and 12 on the single display device 13, if it is difficult to recognize where each of the simultaneously displayed images is captured, the visibility is hindered. Resulting in.

  However, in this embodiment, the image processing unit 21 has a function of generating a converted image obtained by viewing the captured images captured by the cameras 11 and 12 from an arbitrary virtual viewpoint position. At least one captured image is subjected to viewpoint conversion so that the traveling directions of the vehicle 10 in the captured images are the same as each other. For example, when the screen direction of the other captured image is rotated by, for example, 90 degrees with respect to the captured image of one of the front camera 11 and the side camera 12, the other captured image is converted to the captured image of the one captured image. The image is displayed on the display device 13 by being rotated reversely by 90 degrees so as to correspond to the screen direction. This makes it easy to recognize where each of the simultaneously displayed images is captured.

  In FIGS. 3 to 5 of this embodiment, an example in which the captured images of the two cameras 11 and 12 are combined on the left and right is shown. However, the images may be combined vertically or as shown in FIGS. The captured images 46d and 47e having a small ratio may be superimposed on the corners on the large captured images 47d and 46e.

  Further, in the microcomputer 25, the area ratio may be changed so that the ratio of the captured image of the side camera 12 (camera B) increases as the angle at which the handle is turned to the left increases. Furthermore, in this case, when the angle is equal to or larger than the set value, only the captured image of the side camera 12 (camera B) may be displayed.

  Furthermore, the camera that captures the periphery of the vehicle 10 is not limited to two cameras such as the front camera 11 and the side camera 12, and may be three or more cameras. For example, in addition to the front camera (camera A) 11 and the side camera (camera B) 12 shown in FIG. 1, a back camera (camera C) 48 for imaging the left rear as shown in FIG. The picked-up images 51 to 53 that are installed and picked up by these are displayed by appropriately selecting one layout from the layouts shown in FIGS. 12 to 15, and each picked-up image to be displayed is displayed on the display device 13. The ratio displayed on the screen may be changed according to the steering angle of the vehicle 10. Also in this case, while displaying all of the picked-up images 51 to 53 picked up by the plurality of cameras 11, 12, and 48 on the display device 13, the display ratio of the picked-up images 51 to 53 having high importance is increased to be conspicuous. It does not change in the point that can be made.

  Furthermore, when displaying the captured image of each camera on the display device 13, the direction of the rudder angle of the vehicle 10 determined by the microcomputer 25 is indicated by a predetermined figure or symbol such as an arrow as shown in FIGS. The captured images 51 to 53 may be displayed so as to overlap each other. This facilitates detection of obstacles and the like existing in the traveling direction of the vehicle 10. Here, FIG. 16 is an example in which the traveling direction of the vehicle 10 is displayed by arrows P1 to P3 on the screen of the display device 13 shown in FIG. FIG. 17 is an example in which the captured images 51 to 53 of each camera are displayed in such a manner that the viewpoints are converted and the traveling directions are matched. In this case, it becomes easier to intuitively recognize the viewing direction of the captured images 51 to 53 of each camera by displaying the arrows P1 to P3.

  Further, in the above embodiment, the front camera 11 and the side camera 12 are only installed on the left side of the vehicle 10, but as shown in FIG. 18, the front cameras 11 a and 11 b are installed on the left and right sides of the front end of the vehicle 10. The side cameras 12a and 12b are installed on both the left and right sides of the side portion of the vehicle 10, the back cameras 48a and 48b are installed on the left and right sides of the rear end of the vehicle 10, and the six cameras 11a, 11b, All six captured images captured by 12a, 12b, 48a, and 48b may be combined and displayed. Also in this case, the ratio of each captured image displayed on the screen of the display device 13 is changed according to the steering angle of the vehicle 10. In this case as well, it is possible to make the display ratio of captured images with high importance stand out.

  Furthermore, among the six captured images captured by the six cameras 11a, 11b, 12a, 12b, 48a, and 48b shown in FIG. 18, for example, three or four according to the traveling direction of the vehicle 10. The plurality of captured images may be selected as appropriate, and the selected plurality of captured images may be combined and displayed. Also in this case, the ratio of each captured image displayed on the screen of the display device 13 is changed according to the traveling direction and the steering angle of the vehicle 10. In this case, while displaying in various combinations such as left front + front right, left side + right side, left side + left rear, left rear + right rear, etc. It is possible to make the display ratio stand out.

It is a top view which shows the vehicle by which the vehicle periphery imaging device which concerns on one Embodiment of this invention was installed. 1 is a block diagram illustrating a vehicle periphery imaging device according to an embodiment of the present invention. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one Embodiment of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one Embodiment of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one Embodiment of this invention was displayed on the screen of a display apparatus. It is a schematic diagram which shows the operation example of the motor vehicle carrying the vehicle periphery imaging device which concerns on one Embodiment of this invention. It is a schematic diagram which shows the operation example of the motor vehicle carrying the vehicle periphery imaging device which concerns on one Embodiment of this invention. It is a schematic diagram which shows the operation example of the motor vehicle carrying the vehicle periphery imaging device which concerns on one Embodiment of this invention. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one Embodiment of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one Embodiment of this invention was displayed on the screen of a display apparatus. It is a top view which shows the vehicle carrying the vehicle periphery imaging device which concerns on one deformation | transformation row | line | column of this invention. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one deformation sequence of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one deformation sequence of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one deformation sequence of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on one deformation sequence of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on the other modified row | line | column of this invention was displayed on the screen of a display apparatus. It is a figure which shows an example of the state by which the picked-up image imaged with the vehicle periphery imaging device which concerns on the further another row | line | column of this invention was displayed on the screen of a display apparatus. It is a top view which shows the vehicle carrying the vehicle periphery imaging device which concerns on the further another deformation | transformation row | line | column of this invention. It is a front view which shows the vehicle by which the vehicle periphery imaging device of an example of the past was installed. It is a figure which shows the display screen of the vehicle periphery imaging device of the other conventional example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10,41 Vehicle 11,11a, 11b Front camera 12,12a, 12b Side camera 13 Display apparatus 14 Control part 15 Steering-wheel steering angle detection means 16 Shift position detection means 48, 48a, 48b Back camera

Claims (5)

A vehicle periphery imaging device that captures a video around a vehicle and displays it on a display device installed in the vehicle,
A plurality of cameras that respectively capture captured images of a plurality of fields of view of the vehicle;
The display device installed in the vehicle;
Rudder angle detecting means for detecting a rudder angle related to the traveling of the vehicle;
Based on at least the rudder angle detected by the rudder angle detection means, the ratio of the display area that occupies a plurality of captured images captured by all the cameras in the screen of the display device is changed. And a control unit that displays the combined captured image on the display device. The vehicle periphery imaging device according to claim 1,
The vehicle periphery imaging device, wherein the steering angle detection means is a steering angle detection means for detecting a steering angle of a steering wheel. The vehicle periphery imaging device according to claim 1 or 2,
A shift position detecting means for detecting an operation position of the shift lever;
Based on the rudder angle detected by the rudder angle detection unit and the operation position of the shift lever detected by the shift position detection unit, the control unit captures images captured by all the cameras. A vehicle periphery imaging device that synthesizes a plurality of captured images by changing a ratio of a display area in the screen of the display device and displays the combined captured images on the display device. The vehicle periphery imaging device according to any one of claims 1 to 3,
The control unit has a function of generating a converted image viewed from an arbitrary virtual viewpoint position for each captured image, and the function is such that the traveling direction of the vehicle in the captured images of a plurality of imaging devices is the same direction. As described above, a vehicle periphery imaging device in which at least one captured image undergoes viewpoint conversion. The vehicle periphery imaging device according to any one of claims 1 to 4,
The vehicle peripheral imaging device, wherein the control unit displays information on the traveling direction of the vehicle determined based on the steering angle detected by the steering angle detection means on the display device so as to be superimposed on the respective captured images. .

Images